edge from a track to a depth camera node using a disparity measurement More...

#include <edge_se3_pointxyz_disparity.h>

Inheritance diagram for g2o::EdgeSE3PointXYZDisparity:

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Collaboration diagram for g2o::EdgeSE3PointXYZDisparity:

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Public Member Functions
	EdgeSE3PointXYZDisparity ()

virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &os) const
	write the vertex to a stream More...

void	computeError ()

virtual void	linearizeOplus ()

virtual void	setMeasurement (const Vector3D &m)

virtual bool	setMeasurementData (const double *d)

virtual bool	getMeasurementData (double *d) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

const ParameterCamera *	cameraParameter () const

Public Member Functions inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >
	BaseBinaryEdge ()

virtual OptimizableGraph::Vertex *	createFrom ()

virtual OptimizableGraph::Vertex *	createTo ()

virtual OptimizableGraph::Vertex *	createVertex (int i)

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

const JacobianXjOplusType &	jacobianOplusXj () const
	returns the result of the linearization in the manifold space for the node xj More...

virtual void	constructQuadraticForm ()

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)

Public Member Functions inherited from g2o::BaseEdge< D, Vector3D >
	BaseEdge ()

virtual	~BaseEdge ()

virtual double	chi2 () const
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint More...

EIGEN_STRONG_INLINE InformationType &	information ()

EIGEN_STRONG_INLINE void	setInformation (const InformationType &information)

virtual const double *	informationData () const
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD> More...

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge More...

virtual int	rank () const

Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()

virtual	~Edge ()

virtual Edge *	clone () const

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel More...

void	setRobustKernel (RobustKernel *ptr)

int	level () const
	returns the level of the edge More...

void	setLevel (int l)
	sets the level of the edge More...

int	dimension () const
	returns the dimensions of the error function More...

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

long long	internalId () const
	the internal ID of the edge More...

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices More...

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Private Member Functions
virtual bool	resolveCaches ()

Private Attributes
Eigen::Matrix< double, 3, 9, Eigen::ColMajor >	J

ParameterCamera *	params

CacheCamera *	cache

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >
typedef VertexSE3	VertexXiType

typedef VertexPointXYZ	VertexXjType

typedef BaseEdge< D, Vector3D >::Measurement	Measurement

typedef Eigen::Matrix< double, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXiOplusType

typedef Eigen::Matrix< double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXjOplusType

typedef BaseEdge< D, Vector3D >::ErrorVector	ErrorVector

typedef BaseEdge< D, Vector3D >::InformationType	InformationType

typedef Eigen::Map< Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

typedef Eigen::Map< Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockTransposedType

Public Types inherited from g2o::BaseEdge< D, Vector3D >
typedef Vector3D	Measurement

typedef Eigen::Matrix< double, D, 1, Eigen::ColMajor >	ErrorVector

typedef Eigen::Matrix< double, D, D, Eigen::ColMajor >	InformationType

Static Public Attributes inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >
static const int	Di

static const int	Dj

static const int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, Vector3D >
static const int	Dimension

Protected Member Functions inherited from g2o::BaseEdge< D, Vector3D >
InformationType	robustInformation (const Vector3D &rho)

Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

Protected Attributes inherited from g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, Vector3D >
Measurement	_measurement

InformationType	_information

ErrorVector	_error

Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id More...

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

edge from a track to a depth camera node using a disparity measurement

the disparity measurement is normalized: disparity / (focal_x * baseline)

Definition at line 45 of file edge_se3_pointxyz_disparity.h.

Constructor & Destructor Documentation

g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity ( )

Definition at line 42 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseEdge< D, Vector3D >::information(), g2o::OptimizableGraph::Edge::installParameter(), J, params, and g2o::OptimizableGraph::Edge::resizeParameters().

                                                      : BaseBinaryEdge<3, Vector3D, VertexSE3, VertexPointXYZ>() {
     resizeParameters(1);
     installParameter(params, 0);
     information().setIdentity();
     information()(2,2)=1000.;
     J.fill(0);
     J.block<3,3>(0,0) = -Matrix3D::Identity();
   }

Member Function Documentation

const ParameterCamera* g2o::EdgeSE3PointXYZDisparity::cameraParameter ( ) const

inline

Definition at line 87 of file edge_se3_pointxyz_disparity.h.

Referenced by initialEstimate().

87 { return params; }

g2o::EdgeSE3PointXYZDisparity::params

ParameterCamera * params

Definition: edge_se3_pointxyz_disparity.h:91

void g2o::EdgeSE3PointXYZDisparity::computeError ( )

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 97 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseEdge< D, Vector3D >::_error, g2o::BaseEdge< D, Vector3D >::_measurement, g2o::HyperGraph::Edge::_vertices, cache, g2o::BaseVertex< D, T >::estimate(), and g2o::CacheCamera::w2i().

                                               {
     //VertexSE3 *cam = static_cast<VertexSE3*>(_vertices[0]);
     VertexPointXYZ *point = static_cast<VertexPointXYZ*>(_vertices[1]);
     const Vector3D& pt = point->estimate();
     //Vector4D ppt(pt(0),pt(1),pt(2),1.0);
 
     // VertexCameraCache* vcache = (VertexCameraCache*)cam->getCache(_cacheIds[0]);
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
 
     // CacheCamera* vcache = cache;
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
 
     Vector3D p = cache->w2i() * pt;
 
     Vector3D perr;
     perr.head<2>() = p.head<2>()/p(2);
     perr(2) = 1/p(2);
 
     // error, which is backwards from the normal observed - calculated
     // _measurement is the measured projection
     _error = perr - _measurement;
   }

virtual bool g2o::EdgeSE3PointXYZDisparity::getMeasurementData ( double * m ) const

inlinevirtual

writes the measurement to an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 69 of file edge_se3_pointxyz_disparity.h.

                                                     {
       Eigen::Map<Vector3D> v(d);
       v=_measurement;
       return true;
     }

void g2o::EdgeSE3PointXYZDisparity::initialEstimate	(	const OptimizableGraph::VertexSet &	,
		OptimizableGraph::Vertex *
	)

virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Reimplemented from g2o::BaseEdge< D, Vector3D >.

Definition at line 195 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseEdge< D, Vector3D >::_measurement, g2o::HyperGraph::Edge::_vertices, cameraParameter(), g2o::BaseVertex< D, T >::estimate(), g2o::ParameterCamera::invKcam(), LANDMARK_EDGE_COLOR, g2o::ParameterSE3Offset::offset(), params, g2o::BaseVertex< D, T >::setEstimate(), and g2o::HyperGraph::Edge::vertices().

   {
     (void) from;
     assert(from.size() == 1 && from.count(_vertices[0]) == 1 && "Can not initialize VertexDepthCam position by VertexTrackXYZ");
     VertexSE3 *cam = dynamic_cast<VertexSE3*>(_vertices[0]);
     VertexPointXYZ *point = dynamic_cast<VertexPointXYZ*>(_vertices[1]);
 
     // VertexCameraCache* vcache = (VertexCameraCache* ) cam->getCache(_cacheIds[0]);
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
     //ParameterCamera* params=vcache->params;
     const Eigen::Matrix<double, 3, 3, Eigen::ColMajor>& invKcam = params->invKcam();
     Vector3D p;
     double w=1./_measurement(2);
     p.head<2>() = _measurement.head<2>()*w;
     p(2) = w;
     p = invKcam * p;
     p = cam->estimate() * (params->offset() * p);
     point->setEstimate(p);
   }

virtual double g2o::EdgeSE3PointXYZDisparity::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 79 of file edge_se3_pointxyz_disparity.h.

                                          { 
       (void) to; 
       return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
     }

void g2o::EdgeSE3PointXYZDisparity::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj

Reimplemented from g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >.

Definition at line 126 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >::_jacobianOplusXi, g2o::BaseBinaryEdge< 3, Vector3D, VertexSE3, VertexPointXYZ >::_jacobianOplusXj, g2o::HyperGraph::Edge::_vertices, cache, g2o::BaseVertex< D, T >::estimate(), J, g2o::ParameterCamera::Kcam_inverseOffsetR(), params, g2o::CacheCamera::w2i(), and g2o::CacheSE3Offset::w2l().

                                                 {
     //VertexSE3 *cam = static_cast<VertexSE3 *>(_vertices[0]);
     VertexPointXYZ *vp = static_cast<VertexPointXYZ *>(_vertices[1]);
 
     // VertexCameraCache* vcache = (VertexCameraCache*)cam->getCache(_cacheIds[0]);
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
 
     // CacheCamera* vcache = cache;
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
 
 
     const Vector3D& pt = vp->estimate();
 
     Vector3D Zcam = cache->w2l() * vp->estimate();
 
     //  J(0,3) = -0.0;
     J(0,4) = -2*Zcam(2);
     J(0,5) = 2*Zcam(1);
 
     J(1,3) = 2*Zcam(2);
     //  J(1,4) = -0.0;
     J(1,5) = -2*Zcam(0);
 
     J(2,3) = -2*Zcam(1);
     J(2,4) = 2*Zcam(0);
     //  J(2,5) = -0.0;
 
     J.block<3,3>(0,6) = cache->w2l().rotation();
 
     //Eigen::Matrix<double,3,9,Eigen::ColMajor> Jprime = vcache->params->Kcam_inverseOffsetR  * J;
     Eigen::Matrix<double,3,9,Eigen::ColMajor> Jprime = params->Kcam_inverseOffsetR()  * J;
     Eigen::Matrix<double,3,9,Eigen::ColMajor> Jhom;
     Vector3D Zprime = cache->w2i() * pt;
 
     Jhom.block<2,9>(0,0) = 1/(Zprime(2)*Zprime(2)) * (Jprime.block<2,9>(0,0)*Zprime(2) - Zprime.head<2>() * Jprime.block<1,9>(2,0));
     Jhom.block<1,9>(2,0) = - 1/(Zprime(2)*Zprime(2)) * Jprime.block<1,9>(2,0);
 
     _jacobianOplusXi = Jhom.block<3,6>(0,0);
     _jacobianOplusXj = Jhom.block<3,3>(0,6);
   }

virtual int g2o::EdgeSE3PointXYZDisparity::measurementDimension ( ) const

inlinevirtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 75 of file edge_se3_pointxyz_disparity.h.

75 {return 3;}

bool g2o::EdgeSE3PointXYZDisparity::read ( std::istream & is )

virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 60 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseEdge< D, Vector3D >::information(), setMeasurement(), and g2o::OptimizableGraph::Edge::setParameterId().

                                                     {
     // measured keypoint
     int pid;
     is >> pid;
     setParameterId(0,pid);
 
     Vector3D meas;
     for (int i=0; i<3; i++) is >> meas[i];
     setMeasurement(meas);
     if (is.bad())
       return false;
     for ( int i=0; i<information().rows() && is.good(); i++)
       for (int j=i; j<information().cols() && is.good(); j++){
         is >> information()(i,j);
         if (i!=j)
           information()(j,i)=information()(i,j);
       }
     if (is.bad()) {
       //  we overwrite the information matrix
       information().setIdentity();
       information()(2,2)=1000.;
     }
     //_cacheIds[0] = _paramId;
     return true;
   }

bool g2o::EdgeSE3PointXYZDisparity::resolveCaches ( )

privatevirtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 52 of file edge_se3_pointxyz_disparity.cpp.

References g2o::HyperGraph::Edge::_vertices, cache, params, and g2o::OptimizableGraph::Edge::resolveCache().

                                               {
     ParameterVector pv(1);
     pv[0]=params;
     resolveCache(cache, (OptimizableGraph::Vertex*)_vertices[0],"CACHE_CAMERA",pv);
     return cache != 0;
   }

virtual void g2o::EdgeSE3PointXYZDisparity::setMeasurement ( const Vector3D & m )

inlinevirtual

Reimplemented from g2o::BaseEdge< D, Vector3D >.

Definition at line 59 of file edge_se3_pointxyz_disparity.h.

Referenced by g2o::SensorPointXYZDisparity::addNoise(), main(), and read().

                                                   {
       _measurement = m;
     }

virtual bool g2o::EdgeSE3PointXYZDisparity::setMeasurementData ( const double * m )

inlinevirtual

sets the measurement from an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 63 of file edge_se3_pointxyz_disparity.h.

                                                     {
       Eigen::Map<const Vector3D> v(d);
       _measurement = v;
       return true;
     }

bool g2o::EdgeSE3PointXYZDisparity::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 173 of file edge_se3_pointxyz_disparity.cpp.

References g2o::BaseEdge< D, Vector3D >::_measurement, g2o::HyperGraph::Edge::_vertices, cache, g2o::BaseVertex< D, T >::estimate(), and g2o::CacheCamera::w2i().

Referenced by g2o::SensorPointXYZDisparity::sense().

                                                         {
     //VertexSE3 *cam = static_cast< VertexSE3*>(_vertices[0]);
     VertexPointXYZ *point = static_cast<VertexPointXYZ*>(_vertices[1]);
     const Vector3D &pt = point->estimate();
 
     // VertexCameraCache* vcache = (VertexCameraCache*) cam->getCache(_cacheIds[0]);
     // if (! vcache){
     //   cerr << "fatal error in retrieving cache" << endl;
     // }
 
     Vector3D p = cache->w2i() * pt;
 
     Vector3D perr;
     perr.head<2>() = p.head<2>()/p(2);
     perr(2) = 1/p(2);
 
     // error, which is backwards from the normal observed - calculated
     // _measurement is the measured projection
     _measurement = perr;
     return true;
   }

bool g2o::EdgeSE3PointXYZDisparity::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 86 of file edge_se3_pointxyz_disparity.cpp.

References g2o::Parameter::id(), g2o::BaseEdge< D, Vector3D >::information(), g2o::BaseEdge< D, Vector3D >::measurement(), and params.

                                                            {
     os << params->id() << " ";
     for (int i=0; i<3; i++) os  << measurement()[i] << " ";
     for (int i=0; i<information().rows(); i++)
       for (int j=i; j<information().cols(); j++) {
         os <<  information()(i,j) << " ";
       }
     return os.good();
   }

Member Data Documentation

CacheCamera* g2o::EdgeSE3PointXYZDisparity::cache

private

Definition at line 92 of file edge_se3_pointxyz_disparity.h.

Referenced by computeError(), linearizeOplus(), resolveCaches(), and setMeasurementFromState().

g2o::EdgeSE3PointXYZDisparity::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 47 of file edge_se3_pointxyz_disparity.h.

Eigen::Matrix<double,3,9,Eigen::ColMajor> g2o::EdgeSE3PointXYZDisparity::J

private

Definition at line 89 of file edge_se3_pointxyz_disparity.h.

Referenced by EdgeSE3PointXYZDisparity(), and linearizeOplus().

ParameterCamera* g2o::EdgeSE3PointXYZDisparity::params

private

Definition at line 91 of file edge_se3_pointxyz_disparity.h.

Referenced by EdgeSE3PointXYZDisparity(), initialEstimate(), linearizeOplus(), resolveCaches(), and write().

The documentation for this class was generated from the following files:

/home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.h
/home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/edge_se3_pointxyz_disparity.cpp

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation